Hip-lumbar joint motor module architecture applied to humanoid robot

Abstract

The hip-lumbar vertebra joint motor module framework comprises a hip joint motor module and a lumbar vertebra joint motor module, the hip joint motor module has three rotational degrees of freedom of lateral swing, leg lifting and turning of thighs, and the three rotational degrees of freedom are realized by lateral swing joint motors, leg lifting joint motors and turning joint motors of the thighs respectively; the lumbar vertebra joint motor module has three torsional degrees of freedom of lateral swing, buckling and torsion of the waist, and the three torsional degrees of freedom are achieved through a lateral swing joint motor, a buckling joint motor and a torsion joint motor of the waist respectively. According to the hip-lumbar vertebra bone freedom degree of the human body, hip joint and lumbar vertebra joint motor modules of the humanoid robot and a framework of the hip joint and lumbar vertebra joint motor modules are designed. The structural layout is compact, and the movement of human joints is simulated more truly.

Description

Technical Field

[0001] The present invention relates to the field of joint motors, and specifically to a hip-lumbar joint motor module architecture applied to a humanoid robot. Background Art

[0002] The human skeleton is composed of multiple joints, and the movement of the joints is driven by muscles or ligaments in various parts.

[0003] The human hip joint is composed of the greater trochanter of the femur and the hip bone. The femur is in the form of a spherical joint in the groove of the hip bone, connected and twisted by the surrounding ligaments. The hip joint is the key to the human body's ability to walk upright and bear weight. It has three degrees of rotational freedom, which enables the thigh to flex (bend forward and lift the leg), extend (straighten backward), adduct (swing inward), abduct (swing outward), internal rotation (twist inward), and external rotation (twist outward).

[0004] The human body's lumbar joints (intervertebral disc joints) are located at the lower part of the thoracic spine, connecting the sternum and sacrum. The lumbar joints bear most of the body's weight. Lumbar joint movements include three rotational degrees of freedom: lateral swing, flexion and torsion of the waist.

[0005] The humanoid robot's hip joint and lumbar joint are the two most important parts of the human body. In order to simulate the bone structure and freedom of movement of the human hip and lumbar spine, each degree of freedom requires a joint motor drive.

[0006] Authorization announcement number CN221938342U, invention name is a new type of humanoid robot leg power structure and use of a humanoid robot. Three joint motors are set at the hip to achieve forward and backward swing. The outer rotor radial flux permanent magnet DC brushless motor + single-stage planetary reducer solution is used, and the topology of lumbar joint movement is not given. Summary of the invention

[0007] In order to solve the above technical problems, the present invention provides a hip-lumbar joint motor module architecture applied to a humanoid robot, realizes the integration of joint motor, two-stage planetary reducer, encoder and motor controller, and designs the layout of the hip-lumbar joint motor module.

[0008] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present invention is: a hip-lumbar joint motor module architecture applied to a humanoid robot, comprising a hip joint motor module and a lumbar joint motor module connected to each other, each hip joint motor module including three torsional degrees of freedom of thigh side swing, leg lifting and turning, simulating the greater trochanter femoral head spherical joint of the human body, the left hip joint motor module is composed of a left thigh leg lifting joint motor, a left thigh side swing joint motor, and a left thigh turning joint motor, realizing the three torsional degrees of freedom of thigh side swing, leg lifting and turning; the right hip joint motor module is composed of a right thigh leg lifting joint motor, a right thigh side swing joint motor, and a right thigh turning joint motor, realizing the three torsional degrees of freedom of thigh side swing, leg lifting and turning; the lumbar joint motor module simulates the lumbar joint of the human body, realizing three rotational degrees of freedom of side swing, flexion and twisting, which is realized by a waist twisting joint motor, a waist left swing joint motor, a waist right swing joint motor, a waist left flexion joint motor, and a waist right flexion joint motor.

[0009] In the application for authorization announcement number CN118713376B, the invention name is an axial flux joint motor system with integrated oil injection microcirculation cooling. The present invention designs joint motors for the hip and lumbar spine based on the joint motors in the application.

[0010] The present invention has the following beneficial effects:

[0011] According to the human hip-lumbar skeletal freedom, the joint motor module and architecture of the humanoid robot's hip joint and lumbar joint are designed. The structure is compact, the output is greater peak torque (not less than 360N·m), the heat dissipation efficiency of the joint motor is improved, and the movement of the human joint is more realistically simulated. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 An exploded view of the hip-lumbar joint motor module and its overall structure of the humanoid robot of the present invention;

[0013] Figure 2 A front view of the hip-lumbar joint motor module and its structure of the humanoid robot of the present invention;

[0014] Figure 3 A rear view of the hip-lumbar joint motor module and its structure of the humanoid robot of the present invention;

[0015] Figure 4 A skeleton frame diagram of the hip-lumbar joint motor module and its structure of the humanoid robot of the present invention;

[0016] Figure 5 A derivative diagram of the hip-lumbar joint motor module and its architecture of the humanoid robot of the present invention;

[0017] Among them, 1 is the waist twist joint motor, 2a is the left thigh leg lifting joint motor, 2b is the right thigh leg lifting joint motor, 3a is the left thigh side swing joint motor, 3b is the right thigh side swing joint motor, 4a is the left thigh turning joint motor, 4b is the right thigh turning joint motor, 5a is the waist left swing joint motor, 5a01 is the rib plate, 5b is the waist right swing joint motor, 6a is the waist left flexion joint motor, 6b is the waist right flexion joint motor, 7 is the first housing, 8 is the first flange, 9a is the second flange, 9b is the third flange, 9c is The fourth flange, 9d is the fifth flange, 10a is the sixth flange, 10b is the seventh flange, 10c is the eighth flange, 10d is the ninth flange, 11a is the second housing, 11b is the third housing, 11c is the fourth housing, 11c01 is the groove, 11d is the fifth housing, 12a is the first crank, 12b is the second crank, 12c is the third crank, 12d is the fourth crank, 13a is the sixth housing, 13b is the seventh housing, 14a is the eighth housing, 14b is the ninth housing, 14b01 is the boss flange, and 15 is the first connecting rod. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above-mentioned purpose, the present invention adopts the following technical scheme. The present invention is described in detail below in conjunction with the accompanying drawings.

[0019] like Figure 1 , Figure 2 The present invention discloses a hip-lumbar joint motor module architecture for a humanoid robot, comprising a hip joint motor module and a lumbar joint motor module connected to each other, wherein the joint motor comprises a motor, a two-stage planetary reducer, an absolute encoder, and a motor controller. The hip joint motor module has three torsional degrees of freedom of the thigh, namely, side swing, leg lifting, and turning, which are respectively realized by the side swing joint motor, the leg lifting joint motor, and the turning joint motor of the thigh; the lumbar joint motor module includes three rotational degrees of freedom of the waist, namely, side swing, flexion, and torsion, which are respectively realized by the side swing joint motor, the flexion joint motor, and the torsion joint motor of the waist. The present invention designs the hip joint and lumbar joint motor modules and their architecture of the humanoid robot according to the skeletal degrees of freedom of the human hip-lumbar spine. The structural layout is compact, and the movement of the human joints is simulated more realistically.

[0020] like Figure 1 , Figure 2, is a hip joint motor module. Each side of the hip joint motor module contains three degrees of freedom, simulating the greater trochanter femoral head spherical joint of the human body. The left hip joint motor module is composed of a left thigh leg lifting joint motor 2a, a left thigh side swing joint motor 3a, and a left thigh turning joint motor 4a.

[0021] The left thigh leg lifting joint motor 2a is placed in the eighth housing 14a along the axis line and fixed with screws; the left thigh side swing joint motor 3a is placed in the second housing 11a along the axis line and fixed with screws; the left thigh turning joint motor 4a is placed in the sixth housing 13a along the axis line and fixed with screws.

[0022] Similarly, the right hip joint motor module is composed of the right thigh lifting joint motor 2b, the right thigh side swing joint motor 3b, and the right thigh turning joint motor 4b.

[0023] The right thigh leg lifting joint motor 2b is placed in the eighth housing 14a along the axis and fixed with screws; the right thigh side swing joint motor 3b is placed in the third housing 11b along the axis and fixed with screws; the right thigh turning joint motor 4b is placed in the seventh housing 13b along the axis and fixed with screws.

[0024] The hip joint motor module has three torsional degrees of freedom: side swing, leg lifting and turning of the thigh. The side swing movement of the left thigh (swinging left and right: twisting around the X-axis) is driven by the left thigh side swing joint motor 3a to drive the left thigh turning joint motor 4a, the second flange 9a, the first crank 12a and the sixth housing 13a to swing sideways together.

[0025] The leg-lifting action of the left thigh (swinging forward and backward: twisting around the Y-axis) is driven by the left thigh leg-lifting joint motor 2a, the left thigh side-swinging joint motor 3a, the left thigh turning joint motor 4a, the second flange 9a, the sixth flange 10a, the second housing 11a, the first crank 12a, and the sixth housing 13a as a whole to lift the thigh.

[0026] The turning motion (turning and twisting around the Z axis) of the left thigh is realized by the left thigh turning joint motor 4a. Similarly, the side swing motion of the right thigh is driven by the right thigh side swing joint motor 3b to drive the right thigh turning joint motor 4b, the third flange 9b, the second crank 12b, and the seventh housing 13b to side swing together.

[0027] The leg-lifting action of the right thigh is driven by the right thigh leg-lifting joint motor 2b to drive the right thigh side swing joint motor 3b, the right thigh turning joint motor 4b, the third flange 9b, the seventh flange 10b, the third housing 11b, the second crank 12b, and the seventh housing 13b as a whole to lift the thigh.

[0028] The turning movement of the right thigh is realized by the right thigh turning joint motor 4b.

[0029] like Figure 1 , Figure 2 , is a lumbar joint motor module, which simulates the lumbar joints of the human body, including a lumbar torsion joint motor 1, a left lumbar swing joint motor 5a, a right lumbar swing joint motor 5b, a left lumbar flexion joint motor 6a, and a right lumbar flexion joint motor 6b.

[0030] The waist torsion joint motor 1 is placed in the first housing 7 along the axis line and fixed with screws; the waist left side swing joint motor 5a is placed in the fourth housing 11c along the axis line and fixed with screws; the waist right side swing joint motor 5b is placed in the fifth housing 11d along the axis line and fixed with screws; the waist left flexion joint motor 6a and the waist right flexion joint motor 6b are placed in the ninth housing 14b along the axis line and fixed with screws.

[0031] The lumbar joint movement includes three torsional degrees of freedom of the waist: lateral swing, flexion and torsion. The lateral swing movement of the waist (left and right swing: twisting around the X-axis) is composed of a double motor and a double crank consisting of the left side swing joint motor 5a and the right side swing joint motor 5b of the waist, which jointly twist to drive the fourth flange 9c, the fifth flange 9d, the third crank 12c, the fourth crank 12d, and the first connecting rod 15 as a whole to realize the lateral swing movement.

[0032] The flexion and bending movement of the waist (swinging forward and backward: twisting around the Y-axis) is driven by the left waist flexion joint motor 6a and the right waist flexion joint motor 6b, which jointly drive the left waist swing joint motor 5a, the right waist swing joint motor 5b, the fourth flange 9c, the fifth flange 9d, the eighth flange 10c, the ninth flange 10d, the fourth housing 11c, the fifth housing 11d, the third crank 12c, the fourth crank 12d, and the first connecting rod 15 as a whole to realize the bending movement.

[0033] The waist twisting movement (waist twisting and swinging: twisting around the Z axis) is driven by the waist twisting joint motor 1, the waist left swing joint motor 5a, the waist right swing joint motor 5b, the fourth flange 9c, the fifth flange 9d, the eighth flange 10c, the ninth flange 10d, the fourth housing 11c, the fifth housing 11d, the third crank 12c, the fourth crank 12d, the ninth housing 14b, and the first connecting rod 15 as a whole to realize the waist twisting movement.

[0034] like Figure 3 , Figure 4To connect and fix the hip joint motor module and the lumbar joint motor module, the first housing 7 is mounted on the waist torsion joint motor 1 from the bottom and fixed with screws; the first flange 8 is fixed to the first housing 7 with screws, and the first flange 8 is fixed to the eighth housing 14a with screws.

[0035] The waist torsion joint motor 1 is installed on the first housing 7, and the outer surface of the ninth housing 14b is designed with a boss flange 14b01. The boss flange 14b01 is fixed to the output end of the waist torsion joint motor 1 with screws. The rotation of the waist torsion joint motor 1 realizes the twisting of the waist.

[0036] The first flange 8 is fixed to the eighth housing 14a using screws; the left thigh leg-lifting joint motor 2a and the right thigh leg-lifting joint motor 2b are installed in the eighth housing 14a.

[0037] The left thigh turning joint motor 4a is fixed to the sixth housing 13a by using screws, and the sixth housing 13a is fixed to one end of the first crank 12a by using screws.

[0038] Similarly, the right thigh turning joint motor 4b is fixed to the seventh housing 13b using screws, and the seventh housing 13b is fixed to one end of the second crank 12b using screws.

[0039] The first crank 12a is equivalent to the left greater trochanter of the human skeleton, and the second crank 12b is equivalent to the right greater trochanter of the human skeleton.

[0040] Use screws to fix the second flange 9a to the output end of the left thigh side swing joint motor 3a, and use screws to fix the second flange 9a to the other end of the first crank 12a, so that the rotation of the output end of the left thigh side swing joint motor 3a drives the first crank 12a to realize the side swing action.

[0041] Similarly, use screws to fix the third flange 9b to the output end of the right thigh side swing joint motor 3b and to the other end of the second crank 12b, so that the rotation of the output end of the right thigh side swing joint motor 3b drives the second crank 12b to achieve side swing action.

[0042] Use screws to fix the sixth flange 10a to the second housing 11a, and use screws to fix the sixth flange 10a to the output end of the left thigh leg lifting joint motor 2a. Thus, the output end of the left thigh leg lifting joint motor 2a rotates to drive the sixth flange 10a and the second housing 11a to rotate together to realize the left thigh lifting action.

[0043] Similarly, screws are used to fix the seventh flange 10b and the output end of the right thigh lifting joint motor 2b. Thus, the output end of the right thigh lifting joint motor 2b rotates to drive the seventh flange 10b and the third housing 11b to rotate together to realize the right thigh lifting action.

[0044] Use screws to fix the eighth flange 10c to the fourth housing 11c, and use screws to fix the eighth flange 10c to the output end of the left waist flexion joint motor 6a. The left flexion joint motor 6a drives the eighth flange 10c and the fourth housing 11c to rotate together to achieve the bending action; similarly, use screws to fix the ninth flange 10d to the fifth housing 11d, and use screws to fix the eighth flange 10d to the output end of the right waist flexion joint motor 6b. The right waist flexion joint motor 6b drives the ninth flange 10d to rotate together with the fifth housing 11d to achieve the bending action.

[0045] The first connecting rod 15 is connected to one end of the third crank 12c and the fourth crank 12d by screws. The other ends of the third crank 12c and the fourth crank 12d are driven by the waist left swing joint motor 5a and the waist right swing joint motor 5b respectively, forming a double crank connecting rod mechanism to realize the side swing action of the waist.

[0046] In order to facilitate the connection of the joint motor module, the first to ninth housings are designed into an octagon, and multiple ribs are designed on the outer circumference of the joint motor housing, and multiple grooves are designed on the inner wall of the housing along the circumferential direction; taking the left side swing joint motor 5a of the waist as an example, multiple ribs 5a01 are designed on the outer circumference of the left side swing joint motor 5a of the waist, and multiple grooves 11c01 are designed on the inner wall of the fourth housing 11c along the circumferential direction, and each rib 5a01 is inserted into each groove 11c01 on the inner wall of the outer housing. The cooperation between the rib 5a01 and the groove 11c01 limits the circumferential movement, and the outer circumference of the housing is fixed to the joint motor by screws. The output flange is designed at the driving end of the joint motor and fixed to the housing by screws.

[0047] like Figure 5 ,Will Figure 1 The left thigh side swing joint motor 3a and the right thigh side swing joint motor 3b are changed to a coaxial position with the left waist swing joint motor 5a and the right waist swing joint motor 5b, and a new topology is obtained for the functional verification of individual lumbar joints, hip joints, and extended to each side of the hip of the robot dog.

[0048] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A hip-lumbar joint motor module architecture for a humanoid robot, characterized in that: It includes a hip joint motor module and a lumbar joint motor module connected to each other. Each hip joint motor module includes three torsional degrees of freedom: side swing, leg lifting, and turning of the thigh, simulating the spherical joint of the greater trochanter of the human body. The left hip joint motor module is composed of a left thigh leg lifting joint motor, a left thigh side swing joint motor, and a left thigh turning joint motor, realizing the three torsional degrees of freedom of side swing, leg lifting, and turning of the thigh. The right hip joint motor module is composed of the right thigh lifting joint motor, the right thigh side swing joint motor, and the right thigh turning joint motor, which realizes the three torsional degrees of freedom of thigh side swing, leg lifting, and turning; The lumbar joint motor module simulates the human body's lumbar joint and realizes three rotational degrees of freedom: lateral swing, flexion and torsion. It is realized by the lumbar torsion joint motor, the lumbar left swing joint motor, the lumbar right swing joint motor, the lumbar left flexion joint motor and the lumbar right flexion joint motor.

2. According to claim 1, a hip-lumbar joint motor module architecture for a humanoid robot, characterized in that: The joint motor includes a motor, a two-stage planetary reducer, an absolute encoder, and a motor controller.

3. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 1, characterized in that: The left thigh leg lifting joint motor is placed in the eighth housing along the axis and fixed with screws; the left thigh side swing joint motor is placed in the second housing along the axis and fixed with screws; the left thigh turning joint motor is placed in the sixth housing along the axis and fixed with screws.

4. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 3, characterized in that: The right thigh lifting joint motor is placed in the eighth housing along the axis line and fixed with screws; the right thigh side swing joint motor is placed in the third housing along the axis line and fixed with screws; the right thigh turning joint motor is placed in the seventh housing along the axis line and fixed with screws.

5. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 4, characterized in that: The waist torsion joint motor is placed in the first housing along the axis line and fixed with screws; the waist left side swing joint motor is placed in the fourth housing along the axis line and fixed with screws; the waist right side swing joint motor is placed in the fifth housing along the axis line and fixed with screws; the waist left flexion joint motor and the waist right flexion joint motor are placed in the ninth housing along the axis line and fixed with screws.

6. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 5, characterized in that: The first housing is mounted on the waist torsion joint motor from the bottom and fixed with screws; the first flange is fixed to the first housing with screws, and the first flange is fixed to the eighth housing with screws.

7. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 6, characterized in that: The outer surface of the ninth housing is designed with a boss flange, and the boss flange is fixed to the output end of the waist torsion joint motor using screws, and the rotation of the waist torsion joint motor realizes the torsion of the waist.

8. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 7, characterized in that: The first flange is fixed to the eighth housing with screws; the left thigh leg-lifting joint motor and the right thigh leg-lifting joint motor are installed in the eighth housing; the left thigh turning joint motor is fixed to the sixth housing with screws, and the sixth housing is fixed to one end of the first crank with screws; the right thigh turning joint motor is fixed to the seventh housing with screws, and the seventh housing is fixed to one end of the second crank with screws; the first crank is equivalent to the left greater trochanter of the human skeleton, and the second crank is equivalent to the right greater trochanter of the human skeleton; the second flange is fixed to the output end of the left thigh side swing joint motor with screws, and the second flange is fixed to the other end of the first crank with screws, thereby the rotation of the output end of the left thigh side swing joint motor drives the first crank to realize the side swing action.

9. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 8, characterized in that: Use screws to fix the third flange to the output end of the right thigh side swing joint motor, and then fix it to the other end of the second crank, so that the rotation of the output end of the right thigh side swing joint motor drives the second crank to achieve the side swing action; use screws to fix the sixth flange to the second housing, and use screws to fix the sixth flange to the output end of the left thigh leg lifting joint motor, so that the rotation of the output end of the left thigh leg lifting joint motor drives the sixth flange and the second housing to rotate together to achieve the left thigh lifting action.

10. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 9, characterized in that: Use screws to fix the seventh flange to the output end of the right thigh leg-lifting joint motor, so that the output end of the right thigh leg-lifting joint motor rotates to drive the seventh flange and the third housing to rotate together to realize the right thigh-lifting action; use screws to fix the eighth flange to the fourth housing, and use screws to fix the eighth flange to the output end of the left waist flexion joint motor. The left flexion joint motor drives the eighth flange and the fourth housing to rotate together to realize the bending action.

11. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 10, characterized in that: Use screws to fix the ninth flange to the fifth housing, use screws to fix the eighth flange to the output end of the waist right flexion joint motor, and the waist right flexion joint motor drives the ninth flange to rotate together with the fifth housing to realize the bending action.

12. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 11, characterized in that: The first connecting rod is connected to one end of the third crank and the fourth crank through screws. The other ends of the third crank and the fourth crank are driven by the left waist swing joint motor and the right waist swing joint motor respectively to form a double crank connecting rod mechanism to realize the side swing movement of the waist.

13. The hip-lumbar joint motor module architecture for a humanoid robot according to claim 12, characterized in that: A plurality of ribs are arranged on the outer circumference of the casing of the joint motor, and a plurality of grooves are arranged on the inner walls of the first to ninth casings along the circumferential direction, and each rib is inserted into each groove.

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